ABB Robotics IRB 6790, Руководство по эксплуатации продукта

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Note Action
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Remove the remaining attachment screw
and let the upper arm slide out from the
lower arm with support from the guide pins. 2
Lift the upper arm and place it on the pre-
pared area.
CAUTION
Only valid when the upper arm is removed
due to replacement of the axis-3 gearbox:
If the cable harness is still fitted or partly
fitted, use caution when lifting the upper
arm over to the other side of the robot, in
order not to cause any damage to the cable
harness.
3
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This step is only valid when the upper arm
is removed due to replacement of the axis-
3 gearbox:
Place pieces of wood (or similar) under arm
house and wrist. Lower the upper arm, and
let the upper arm rest as shown in the fig-
ure.
This is done in order to keep the axis-3
gearbox in a vertical position and to get the
best position to replace the axis-3 gearbox,
if applicable.
4
Removing the axis-3 gearbox
Use this procedure to remove the gearbox.
Note Action
Guide pin, M12x150: 3HAC13056-2 Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the gearbox slide better.
1
Always use guide pins in pairs.
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Product manual - IRB 6790 589
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.8.3 Replacing the axis-3 gearbox
Continued